Method for removing gold from pins in shell

Abstract

The invention relates to a method for removing gold from pins in a shell, and belongs to the field of pin gold removal. Comprising the following steps that S1, a shell with inner pins is placed on a feeding table; s2, identifying and recording data information of the shell and the inner pins by using a visual identification system; s3, according to the data information in the step S2, the gold removal height is obtained through calculation; s4, the shell is grabbed and moved to a scaling powder spraying system through a mechanical arm; s5, the scaling powder spraying system is used for spraying scaling powder on the part, with the gold removal height, of the inner pin; s6, the shell is moved to a tin spraying and gold removing system through the mechanical arm; s7, repeatedly immersing the part with the gold removal height on the inner pin in tin liquid through the tin spraying and gold removal system; s8, the shell is displaced to a detection system through the mechanical arm; and S9, the shell subjected to gold removal is moved to a discharging table through the mechanical arm. The gold removing device is beneficial to realizing automatic gold removing of the pins in the shell.

Description

Technical Field

[0001] The invention relates to the field of pin gold removal, and in particular to a method for removing gold from pins in a shell. Background Art

[0002] In the assembly of hybrid integrated circuits, the removal of gold from gold-plated leads is an important process to ensure product reliability. Since gold has high chemical stability and is not easily oxidized, it is usually used as a protective coating on various electronic devices. However, during the welding process, the tin in the solder can react quickly with the gold layer to generate a variety of intermetallic compounds, among which the gold-tin compound AuSn4 (gold-tin-four) is brittle and the solder joints lose their luster. At this time, the solder joints not only have reduced mechanical properties, but are also prone to pinholes, allowing oxygen and water vapor in the air to penetrate into the solder joints, causing corrosion to the solder joints and reducing reliability. Therefore, it is usually necessary to perform gold removal operations before welding electronic devices to eliminate the formation of gold-tin compounds and improve product reliability.

[0003] The general gold removal process is to first tin the gold-plated parts to dissolve the gold layer, and then remove the tin and gold together. For gold-plated leads, pins and other components, the gold can be removed directly with a tin pot. Unlike the leads, the main structure of the shell is a stainless steel cavity with a matchbox structure. Holes are punched on the bottom or side walls, and insulators made of sintered glass or ceramic are used to fix the pins, so that most of the pins are exposed from the shell and a small part of the pins remain in the shell cavity. The shell is generally divided into a straight-insert shell and a side-insert shell. Since the inner pins are inside the shell, the tin pot method of gold removal cannot be used. The following methods are currently available for removing gold from the pins inside the shell: (1) Soldering iron gold removal, that is, using a manual soldering iron to remove gold from the pins one by one. Although this method is flexible, it has high labor costs and poor controllability; (2) Wave soldering gold removal, which can be automated, but requires special fixtures, and different types of shell fixtures are not universal. It is costly to design and manufacture fixtures for different types of shells. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method for removing gold from pins in a housing to solve the above problem.

[0005] The technical solution of the present invention to solve the above technical problem is as follows: a method for removing gold from pins in a housing, comprising the following steps:

[0006] S1: Place the housing with inner pins on the loading table;

[0007] S2: using a visual recognition system to identify and record data information of the outer shell and the inner pin;

[0008] S3: Calculate the gold removal height according to the data information in step S2;

[0009] S4: using a robotic arm to grab and move the housing to a flux spraying system;

[0010] S5: spraying flux on the portion of the inner pin having the gold removal height by the flux spraying system;

[0011] S6: using the robot arm to move the housing to a tin spraying and gold removal system;

[0012] S7: repeatedly immersing the portion of the inner pin having the gold removal height in tin liquid by the tin spraying and gold removal system;

[0013] S8: using the mechanical arm to move the housing to a detection system;

[0014] S9: Using the robot arm to move the shell after the metal is removed to the unloading platform.

[0015] The beneficial effects of the present invention are as follows: the visual recognition system is conducive to identifying the data information of the straight-insert type shell and the side-insert type shell, and using the identified data information, it cooperates with the robotic arm to automatically grasp and displace the straight-insert type shell and the side-insert type shell, as well as spray flux and spray tin to remove gold after grasping, thereby making the gold removal operation of the pins in the shell fully automated and reducing labor costs. At the same time, the flux spraying system and the tin spray gold removal system can adapt to shells of different specifications, avoiding the design of fixtures for shells of different specifications, thereby reducing the design and use costs of the fixtures; the detection system is conducive to identifying the gold removal effect, providing a guarantee for the accuracy of the gold removal operation.

[0016] Based on the above technical solution, the present invention can also be improved as follows.

[0017] Furthermore, the visual recognition system is arranged toward an open end of the shell.

[0018] The beneficial effect of adopting the above further solution is that the visual recognition system is arranged toward the end of the opening on the shell, which is conducive to identifying the data information of the shell and the inner pins.

[0019] Further, in step S2, the data information of the shell includes: the outline, size and coordinates of the shell relative to the robotic arm.

[0020] The beneficial effect of adopting the above further scheme is: identifying the contour, size and coordinates of the shell relative to the robotic arm is conducive to transmitting data to the control system of the robotic arm, so as to realize the adaptive grasping of shells of different specifications by the robotic arm.

[0021] Further, in step S2, the data information of the inner pin includes: the height of the visual identification system from the end of the inner pin, the height of the visual identification system from the bottom surface of the outer shell, the height of the visual identification system from the outer shell, the shortest distance between the inner pin and the inner wall of the outer shell, the shortest distance between two adjacent inner pins, and the distance between the end of the inner pin and the inner wall of the outer shell.

[0022] The beneficial effects of adopting the above further scheme are: measuring the height of the visual recognition system from the end of the inner pin and the height of the visual recognition system from the bottom surface of the outer shell is conducive to calculating the length of the inner pin of the straight-insert shell; measuring the distance between the end of the inner pin and the inner wall of the outer shell tube shell is conducive to obtaining the length of the inner pin of the side-insert shell; measuring the height of the visual recognition system from the bottom surface of the outer shell and the height of the visual recognition system from the outer shell tube shell is conducive to providing calculation data for the robot arm to grasp the side-insert shell and then rotate it to move the inner pin downward; measuring the shortest distance between the inner pin and the inner wall of the outer shell tube shell and the shortest distance between two adjacent inner pins is conducive to providing data support for selecting a tin spray nozzle compatible with the inner pin in steps S6 and S7, avoiding interference between two adjacent inner pins or between the inner pin and the inner wall of the outer shell tube shell when the inner pin is pushed down into the tin spray nozzle.

[0023] Further, in step S3, the gold removal height is less than or equal to the height of the visual recognition system from the bottom surface of the outer shell minus the height of the visual recognition system from the inner pin end, or less than or equal to the distance between the inner pin end and the inner wall of the outer shell tube shell.

[0024] The beneficial effect of adopting the above further solution is that it is helpful to calculate or measure the gold removal height of the side-insertion type housing or the straight-insertion type housing.

[0025] Furthermore, a pressure sensor and a heating device are provided in the robot arm, and both the pressure sensor and the heating device are in contact with the outer shell.

[0026] The beneficial effects of adopting the above further scheme are: the pressure sensor is conducive to ensuring that the clamping of the robot arm is stable and does not wear the outer shell and tube shell, and the heating equipment is conducive to preheating the outer shell and tube shell before gold removal, providing the necessary temperature conditions for the gold removal reaction, thereby improving the gold removal efficiency.

[0027] Further, in steps S4 and S5, the flux spraying system includes: a flux spray gun, an infrared height measuring device for measuring the gold removal height, and a displacement device for moving the flux spray gun, and the flux spray gun is installed on the displacement device and aligned with the inner pin.

[0028] The beneficial effect of adopting the above further scheme is that the infrared height measuring equipment combined with the flux spray gun is conducive to the flux spraying operation on the part of the inner pin with the gold removal height, which provides convenience for the subsequent gold removal operation.

[0029] Further, in steps S6 and S7, the tin spraying and gold removal system includes: a plurality of tin spray nozzles of different sizes, a liquid level sensor, an electromagnetic pump and a tin pot, the liquid level sensor is arranged on the inner wall of the tin spray nozzle, the tin spray nozzle is connected to the tin pot, the electromagnetic pump is connected to the tin pot, and the tin liquid in the tin pot is pumped into the tin spray nozzle or the tin liquid in the tin spray nozzle is returned to the tin pot.

[0030] The beneficial effects of adopting the above further scheme are: multiple tin spray nozzles with different sizes are conducive to adapting to internal pins of different specifications, the liquid level sensor is conducive to providing judgment conditions for the length of the internal pins penetrating into the tin spray nozzle, and at the same time provides a stop condition for the rising height of the tin liquid in the tin spray nozzle, and the electromagnetic pump is conducive to pumping the tin liquid in the tin pot into the tin spray nozzle or returning the tin liquid in the tin spray nozzle to the tin pot.

[0031] Furthermore, the tin spray nozzle is a straight or broken line tubular structure.

[0032] The beneficial effects of adopting the above further scheme are: the tin spray nozzle is a straight tubular structure, which is conducive to adapting to the gold removal operation of the straight-insertion type shell; the tin spray nozzle is a broken-line tubular structure, which is conducive to adapting to the gold removal operation of the side-insertion type shell.

[0033] Further, in step S8, the detection system includes an optical detection device for determining the color of the inner lead and a component detection device for determining the gold content in the inner lead.

[0034] The beneficial effect of adopting the above further scheme is: the optical detection equipment is conducive to observing the color change of the inner pin from the side at a certain angle. Since the inner pin is golden before gold removal and silver after gold removal, the degree of gold removal can be determined according to the difference in color. The component detection equipment is conducive to bombarding the inner pin with laser or other energy beams, collecting electromagnetic waves or particles released from the surface of the inner pin to determine the composition of the inner pin, and determining the degree of gold removal according to the gold content in the inner pin composition. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of a gold removal method provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of a visual recognition system provided by an embodiment of the present invention identifying plug-in type housing data information;

[0037] Figure 3A schematic diagram of a visual recognition system provided by an embodiment of the present invention recognizing data information of a side-insertion type housing;

[0038] Figure 4 A schematic diagram of the structure of a tin spraying and gold removal system provided in an embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the structure between the plug-in type housing and the tin spray nozzle provided in an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of the structure between a side-insertion type housing and a tin spray nozzle provided in an embodiment of the present invention;

[0041] Figure 7 Operation flow of step S7 provided in the embodiment of the present invention Figure 1 ;

[0042] Figure 8 Operation flow of step S7 provided in the embodiment of the present invention Figure 2 ;

[0043] Fig. 9 Operation flow of step S7 provided in the embodiment of the present invention Figure 3 ;

[0044] Fig.10 Operation flow of step S7 provided in the embodiment of the present invention Figure 4 ;

[0045] Fig.11 Operation flow of step S7 provided in the embodiment of the present invention Figure 5 .

[0046] in, Figure 2 and Figure 3 H1 represents the height of the visual recognition system from the end of the inner pin, H2 represents the height of the visual recognition system from the bottom surface of the shell, and H3 represents the height of the visual recognition system from the shell tube shell; Figure 2 H4 in the figure represents the shortest distance between the inner pin and the inner wall of the outer shell, and H5 represents the shortest distance between two adjacent inner pins; Figure 3 H6 in FIG. 5 represents the distance between the end of the inner pin and the inner wall of the housing tube shell.

[0047] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0048] 1. Visual recognition system; 2. Tin spraying and gold removal system; 3. Shell; 21. Tin spraying nozzle; 22. Liquid level sensor; 23. Electromagnetic pump; 24. Tin pot; 31. Inner pin; 32. Shell and tube shell. DETAILED DESCRIPTION

[0049] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0050] like Figure 1 As shown, a method for removing gold from pins in a housing comprises the following steps:

[0051] S1: placing the housing 3 with the inner pins 31 on a loading table;

[0052] S2: using the visual recognition system 1 to identify and record data information of the housing 3 and the inner pin 31;

[0053] S3: Calculate the gold removal height according to the data information in step S2;

[0054] S4: using a robotic arm to grab and move the housing 3 to a flux spraying system;

[0055] S5: spraying flux on the portion of the inner pin 31 having the gold removal height by the flux spraying system;

[0056] S6: using the robot arm to move the housing 3 to the tin spraying and gold removal system 2;

[0057] S7: repeatedly immersing the portion of the inner pin 31 having the gold removal height in tin liquid by the tin spraying and gold removal system 2;

[0058] S8: using the mechanical arm to move the housing 3 to the detection system;

[0059] S9: Using the robot arm to move the shell 3 after the metal is removed to the unloading platform.

[0060] It should be noted that: in step S1, the surface of the loading table is horizontal, smooth, and light-transmissive, the surface does not deform, the outer shell does not wear, and it has a backlight function.

[0061] The beneficial effects of the present invention are as follows: the visual recognition system is conducive to identifying the data information of the straight-insert type shell and the side-insert type shell, and using the identified data information, it cooperates with the robotic arm to automatically grasp and displace the straight-insert type shell and the side-insert type shell, as well as spray flux and spray tin to remove gold after grasping, thereby making the gold removal operation of the pins in the shell fully automated and reducing labor costs. At the same time, the flux spraying system and the tin spray gold removal system can adapt to shells of different specifications, avoiding the design of fixtures for shells of different specifications, thereby reducing the design and use costs of the fixtures; the detection system is conducive to identifying the gold removal effect, providing a guarantee for the accuracy of the gold removal operation.

[0062] Preferably, Figure 2 and Figure 3As shown, the visual recognition system 1 is arranged toward an open end of the housing 3 .

[0063] Among them, it should be noted that: in the technical solution of the present invention, the shell 3 is divided into a straight-insertion type shell and a side-insertion type shell, the shell 3 includes a plurality of inner pins 31 and a shell tube shell 32, the shell tube shell 32 is a stainless steel cavity, and is a shell structure with one end open, a plurality of through holes are arranged on the bottom or side wall of the shell tube shell 32, and an insulator sintered from glass or ceramic is fixed on the through holes, and a plurality of pins pass through the through holes and the insulator, so that most of the pins are exposed from the shell tube shell 32, and a small part remains in the shell tube shell 32 to form the inner pins 31.

[0064] The beneficial effect of adopting the above preferred solution is that the visual recognition system is arranged toward the end of the opening on the shell, which is conducive to identifying the data information of the shell and the inner pins.

[0065] Preferably, in step S2, the data information of the shell 3 includes: the outline, size and coordinates of the shell 3 relative to the robotic arm.

[0066] The beneficial effect of adopting the above preferred solution is: identifying the outline, size and coordinates of the shell relative to the robotic arm is conducive to transmitting data to the control system of the robotic arm, so as to realize the adaptive grasping of shells of different specifications by the robotic arm.

[0067] Preferably, Figure 2 and Figure 3 As shown, in step S2, the data information of the inner pin 31 includes: the height H1 of the visual identification system 1 from the end of the inner pin 31, the height H2 of the visual identification system 1 from the bottom surface of the outer shell 3, the height H3 of the visual identification system 1 from the outer shell tube shell 32, the shortest distance H4 between the inner pin 31 and the inner wall of the outer shell tube shell 32, the shortest distance H5 between two adjacent inner pins 31, and the distance H6 between the end of the inner pin 31 and the inner wall of the outer shell tube shell 32.

[0068] It should be noted that: in the technical solution of the present invention, since the outer shell tube shell 32 is a shell structure with one end open, the above-mentioned “bottom surface of the outer shell 3 ” refers to the inner wall of the bottom end of the outer shell tube shell 32 .

[0069] The beneficial effects of adopting the above-mentioned preferred scheme are: measuring the height of the visual recognition system from the end of the inner pin and the height of the visual recognition system from the bottom surface of the outer shell is conducive to calculating the length of the inner pin of the straight-insert shell; measuring the distance between the end of the inner pin and the inner wall of the outer shell tube shell is conducive to obtaining the length of the inner pin of the side-insert shell; measuring the height of the visual recognition system from the bottom surface of the outer shell and the height of the visual recognition system from the outer shell tube shell is conducive to providing calculation data for the robot arm to grasp the side-insert shell and then rotate it to move the inner pin downward; measuring the shortest distance between the inner pin and the inner wall of the outer shell tube shell and the shortest distance between two adjacent inner pins is conducive to providing data support for selecting a tin spray nozzle compatible with the inner pin in steps S6 and S7, avoiding interference between two adjacent inner pins or between the inner pin and the inner wall of the outer shell tube shell when the inner pin is pushed down into the tin spray nozzle.

[0070] Preferably, in step S3, the gold removal height is less than or equal to the height H2 of the visual recognition system 1 from the bottom surface of the outer shell 3 minus the height H1 of the visual recognition system 1 from the end of the inner pin 31, or is less than or equal to the distance H6 between the end of the inner pin 31 and the inner wall of the outer shell tube shell 32.

[0071] The beneficial effect of adopting the above preferred solution is that it is helpful to calculate or measure the gold removal height of the side-insertion type housing or the straight-insertion type housing.

[0072] Preferably, a pressure sensor and a heating device are provided in the robot arm, and both the pressure sensor and the heating device are in contact with the housing 3 .

[0073] It should be noted that: in a preferred embodiment of the present invention, the pressure sensor and the heating device are in contact with the outer wall of the outer shell 32;

[0074] The heating device is an electric heating wire or an electric heating plate, and the heating temperature is adjusted between 25°C and 200°C. The robotic arm also includes a matching controller for receiving external input signals, thereby controlling the movement of the robotic arm and performing signal processing and control on the pressure sensor and the heating device.

[0075] The beneficial effects of adopting the above-mentioned preferred scheme are: the pressure sensor is conducive to ensuring that the clamping of the robot arm is stable and does not wear the outer shell, and the heating equipment is conducive to preheating the outer shell before gold removal, providing the necessary temperature conditions for the gold removal reaction, thereby improving the gold removal efficiency.

[0076] Preferably, in steps S4 and S5, the flux spraying system includes: a flux spray gun, an infrared height measuring device for measuring the gold removal height, and a displacement device for moving the flux spray gun, and the flux spray gun is installed on the displacement device and is aligned with the inner pin 31.

[0077] It should be noted that: in a preferred embodiment of the present invention, the displacement device is a combined structure of a motor, a screw and a guide rail, and the flux spraying system also includes a controller for controlling the displacement of the displacement device, controlling the opening and closing of the flux spray gun, and connecting with the infrared height measuring device for data communication and control.

[0078] The beneficial effect of adopting the above preferred solution is that the infrared height measuring equipment combined with the flux spray gun is conducive to the flux spraying operation on the part of the inner pin with the gold removal height, which provides convenience for the subsequent gold removal operation.

[0079] Preferably, Figures 4 to 11 As shown, in steps S6 and S7, the tin spraying and gold removal system 2 includes: a plurality of tin spray nozzles 21 of different sizes, a liquid level sensor 22, an electromagnetic pump 23 and a tin pot 24, the liquid level sensor 22 is arranged on the inner wall of the tin spray nozzle 21, the tin spray nozzle 21 is connected to the tin pot 24, the electromagnetic pump 23 is connected to the tin pot 24, and the tin liquid in the tin pot 24 is pumped into the tin spray nozzle 21 or the tin liquid in the tin spray nozzle 21 is returned to the tin pot 24.

[0080] It should be noted that: in a preferred embodiment of the present invention, the liquid level sensor 22 can be replaced by an infrared height measuring device to provide a judgment condition for regulating the height of the tin liquid in the tin spray nozzle 21;

[0081] Since the air needs to be isolated during the gold removal operation to prevent tin oxidation, the tin spray gold removal system 2 also includes an air ring for releasing protective gas; the tin spray gold removal system 2 also includes a controller connected to the liquid level sensor 22 and the electromagnetic pump 23, and performing signal transmission and control with them.

[0082] The beneficial effects of adopting the above-mentioned preferred scheme are: multiple tin spray nozzles with different sizes are conducive to adapting to internal pins of different specifications, the liquid level sensor is conducive to providing judgment conditions for the length of the internal pins penetrating into the tin spray nozzle, and at the same time provides a stop condition for the rising height of the tin liquid in the tin spray nozzle, and the electromagnetic pump is conducive to pumping the tin liquid in the tin pot into the tin spray nozzle or returning the tin liquid in the tin spray nozzle to the tin pot.

[0083] Preferably, Figure 5 and Figure 6 As shown, the tin spray nozzle 21 is a straight or broken line tubular structure.

[0084] The beneficial effects of adopting the above preferred scheme are: the tin spray nozzle with a straight tubular structure is conducive to adapting to the gold removal operation of the straight-insertion type shell; the tin spray nozzle with a broken-line tubular structure is conducive to adapting to the gold removal operation of the side-insertion type shell.

[0085] Preferably, in step S8 , the detection system includes an optical detection device for determining the color of the inner pin 31 and a component detection device for determining the gold content in the inner pin 31 .

[0086] The beneficial effects of adopting the above-mentioned preferred scheme are: the optical detection equipment is conducive to observing the color change of the inner pin from the side at a certain angle. Since the inner pin is golden before gold removal and silver after gold removal, the degree of gold removal can be determined according to the difference in color. The component detection equipment is conducive to bombarding the inner pin with laser or other energy beams, collecting electromagnetic waves or particles released from the surface of the inner pin to determine the composition of the inner pin, and determining the degree of gold removal according to the gold content in the inner pin composition.

[0087] In the above technical solution, the visual recognition system 1, the controller in the robotic arm, the controller in the flux spraying system, the controller in the tin spraying and gold removal system 2, and the detection system are all interconnected through signal lines, thereby realizing signal interaction during the entire gold removal operation.

[0088] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0089] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0090] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0091] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0093] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for removing gold from pins in a housing, characterized in that: The following steps are involved: S1: Place the housing with inner pins on the loading table; S2: using a visual recognition system to identify and record data information of the housing and the inner pins; S3: Calculate the gold removal height according to the data information in step S2; S4: using a robotic arm to grab and move the housing to a flux spraying system; S5: spraying flux on the portion of the inner pin having the gold removal height by the flux spraying system; S6: using the robot arm to move the housing to a tin spraying and gold removal system; S7: repeatedly immersing the portion of the inner pin having the gold removal height in tin liquid by the tin spraying and gold removal system; S8: using the mechanical arm to move the housing to a detection system; S9: Using the robot arm to move the shell after the metal is removed to the unloading platform.

2. A method for removing gold from pins in a housing according to claim 1, characterized in that: The visual recognition system is arranged toward an open end of the shell.

3. A method for removing gold from pins in a housing according to claim 1, characterized in that: In step S2, the data information of the shell includes: the outline, size and coordinates of the shell relative to the robotic arm.

4. A method for removing gold from pins in a housing according to claim 1, characterized in that: In step S2, the data information of the inner pin includes: the height of the visual identification system from the end of the inner pin, the height of the visual identification system from the bottom surface of the outer shell, the height of the visual identification system from the outer shell, the shortest distance between the inner pin and the inner wall of the outer shell, the shortest distance between two adjacent inner pins, and the distance between the end of the inner pin and the inner wall of the outer shell.

5. A method for removing gold from pins in a housing according to claim 4, characterized in that: In step S3, the gold removal height is less than or equal to the height of the visual recognition system from the bottom surface of the shell minus the height of the visual recognition system from the inner pin end, or less than or equal to the distance between the inner pin end and the inner wall of the shell tube shell.

6. A method for removing gold from pins in a housing according to claim 1, characterized in that: The mechanical arm is provided with a pressure sensor and a heating device, and both the pressure sensor and the heating device are in contact with the housing.

7. A method for removing gold from pins in a housing according to claim 1, characterized in that: In steps S4 and S5, the flux spraying system includes: a flux spray gun, an infrared height measuring device for measuring the gold removal height, and a displacement device for moving the flux spray gun. The flux spray gun is installed on the displacement device and is aligned with the inner pin.

8. A method for removing gold from pins in a housing according to claim 1, characterized in that: In steps S6 and S7, the tin spraying and gold removal system includes: a plurality of tin spray nozzles of different sizes, a liquid level sensor, an electromagnetic pump and a tin pot, the liquid level sensor is arranged on the inner wall of the tin spray nozzle, the tin spray nozzle is connected to the tin pot, the electromagnetic pump is connected to the tin pot, and the tin liquid in the tin pot is pumped into the tin spray nozzle or the tin liquid in the tin spray nozzle is returned to the tin pot.

9. A method for removing gold from pins in a housing according to claim 8, characterized in that: The tin spray nozzle is a straight or broken line tubular structure.

10. A method for removing gold from pins in a housing according to claim 1, characterized in that: In step S8, the detection system includes an optical detection device for determining the color of the inner lead and a component detection device for determining the gold content in the inner lead.

Images